EP3926365A4 - Ensemble de détection, robot aspirateur, procédé de détection d'état de fond mouvant et procédé de commande pour robot aspirateur - Google Patents

Ensemble de détection, robot aspirateur, procédé de détection d'état de fond mouvant et procédé de commande pour robot aspirateur Download PDF

Info

Publication number
EP3926365A4
EP3926365A4 EP19918837.6A EP19918837A EP3926365A4 EP 3926365 A4 EP3926365 A4 EP 3926365A4 EP 19918837 A EP19918837 A EP 19918837A EP 3926365 A4 EP3926365 A4 EP 3926365A4
Authority
EP
European Patent Office
Prior art keywords
vacuum cleaner
robotic vacuum
control method
walking floor
floor status
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19918837.6A
Other languages
German (de)
English (en)
Other versions
EP3926365A1 (fr
Inventor
Yuan Chen
Xiaowei Xu
Linghua Chen
Xianmin WEI
Shijie Li
Yuan Lu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Midea Robozone Technology Co Ltd
Original Assignee
Midea Robozone Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910182094.1A external-priority patent/CN111685651B/zh
Priority claimed from CN201910186507.3A external-priority patent/CN111766589A/zh
Application filed by Midea Robozone Technology Co Ltd filed Critical Midea Robozone Technology Co Ltd
Publication of EP3926365A1 publication Critical patent/EP3926365A1/fr
Publication of EP3926365A4 publication Critical patent/EP3926365A4/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Specially adapted for sailing ships
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Optics & Photonics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
EP19918837.6A 2019-03-11 2019-10-23 Ensemble de détection, robot aspirateur, procédé de détection d'état de fond mouvant et procédé de commande pour robot aspirateur Pending EP3926365A4 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201910182094.1A CN111685651B (zh) 2019-03-11 2019-03-11 清洁装置及其控制方法
CN201910186507.3A CN111766589A (zh) 2019-03-12 2019-03-12 检测组件、扫地机器人及检测其行走路况的方法和系统
PCT/CN2019/112730 WO2020181772A1 (fr) 2019-03-11 2019-10-23 Ensemble de détection, robot aspirateur, procédé de détection d'état de fond mouvant et procédé de commande pour robot aspirateur

Publications (2)

Publication Number Publication Date
EP3926365A1 EP3926365A1 (fr) 2021-12-22
EP3926365A4 true EP3926365A4 (fr) 2022-04-27

Family

ID=72426031

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19918837.6A Pending EP3926365A4 (fr) 2019-03-11 2019-10-23 Ensemble de détection, robot aspirateur, procédé de détection d'état de fond mouvant et procédé de commande pour robot aspirateur

Country Status (5)

Country Link
US (1) US20220142438A1 (fr)
EP (1) EP3926365A4 (fr)
JP (1) JP7221416B2 (fr)
KR (1) KR20210126775A (fr)
WO (1) WO2020181772A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11553824B2 (en) * 2020-06-25 2023-01-17 Power Logic Tech, Inc. Automatic guiding method for self-propelled apparatus
CN114470262B (zh) * 2021-12-24 2022-08-23 宁波圣达智能科技有限公司 一种银行业务库消毒方法、系统、存储介质及智能终端

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060087273A1 (en) * 2004-10-27 2006-04-27 Samsung Gwangju Electronics Co., Ltd Robot cleaner system and a method for returning to external recharging apparatus
US20130061417A1 (en) * 2011-09-09 2013-03-14 Dyson Technology Limited Autonomous cleaning appliance
EP2790079A2 (fr) * 2013-04-11 2014-10-15 Samsung Electronics Co., Ltd. Robot de nettoyage
EP3082006A2 (fr) * 2015-04-16 2016-10-19 Samsung Electronics Co., Ltd. Robot de nettoyage et son procédé de commande
US20180169863A1 (en) * 2015-07-01 2018-06-21 Irobot Corporation Robot navigational sensor system

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2004202834B2 (en) 2003-07-24 2006-02-23 Samsung Gwangju Electronics Co., Ltd. Robot Cleaner
JP2005211364A (ja) 2004-01-30 2005-08-11 Funai Electric Co Ltd 自走式掃除機
KR100638220B1 (ko) * 2005-04-23 2006-10-27 엘지전자 주식회사 주행로봇의 위치감지장치 및 그를 구비한 로봇청소기
CN103941306B (zh) * 2014-01-13 2017-02-01 苏州爱普电器有限公司 清洁机器人及用于控制其避开障碍物的方法
US9505140B1 (en) * 2015-06-02 2016-11-29 Irobot Corporation Contact sensors for a mobile robot
CN106226755B (zh) 2016-08-30 2019-05-21 北京小米移动软件有限公司 机器人
KR102431355B1 (ko) * 2016-10-25 2022-08-10 트리나미엑스 게엠베하 적어도 하나의 대상체의 광학적 검출을 위한 검출기
CN106647761A (zh) * 2016-12-30 2017-05-10 上海庆科信息技术有限公司 一种自移动扫地机及其控制方法
CN207924145U (zh) * 2018-04-01 2018-09-28 深圳慎始科技有限公司 建图与导航定位用测距装置
CN208334652U (zh) * 2018-07-04 2019-01-04 深圳市朗空亿科科技有限公司 一种行走机器人及其障碍物检测系统
CN109358336A (zh) * 2018-09-19 2019-02-19 信利光电股份有限公司 一种新型距离传感装置及方法
CN111685651B (zh) * 2019-03-11 2022-03-15 美智纵横科技有限责任公司 清洁装置及其控制方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060087273A1 (en) * 2004-10-27 2006-04-27 Samsung Gwangju Electronics Co., Ltd Robot cleaner system and a method for returning to external recharging apparatus
US20130061417A1 (en) * 2011-09-09 2013-03-14 Dyson Technology Limited Autonomous cleaning appliance
EP2790079A2 (fr) * 2013-04-11 2014-10-15 Samsung Electronics Co., Ltd. Robot de nettoyage
EP3082006A2 (fr) * 2015-04-16 2016-10-19 Samsung Electronics Co., Ltd. Robot de nettoyage et son procédé de commande
US20180169863A1 (en) * 2015-07-01 2018-06-21 Irobot Corporation Robot navigational sensor system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2020181772A1 *

Also Published As

Publication number Publication date
EP3926365A1 (fr) 2021-12-22
US20220142438A1 (en) 2022-05-12
JP7221416B2 (ja) 2023-02-13
WO2020181772A1 (fr) 2020-09-17
JP2022524462A (ja) 2022-05-02
KR20210126775A (ko) 2021-10-20

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